Radar apparatus, method for displaying radar image, and radar image display program

Abstract

To improve detection accuracy of a target in a short-distance region in a radar apparatus that transmits pulse signals having pulse widths different from each other.SOLUTION: A radar apparatus includes: a transmitting unit configured to transmit a first pulse signal which is a pulse signal, and a second pulse signal which is a pulse signal having a pulse width wider than that of the first pulse signal; a receiving unit configured to receive a reflected signal obtained by reflection of the pulse signal; a display signal generation unit configured to generate a display signal on the basis of the reflected signal; and a control unit configured to perform first control for controlling transmission power of the pulse signals so that transmission power of the first pulse signal is greater than transmission power of the second pulse signal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a radar device, a radar image display method, and a radar image display program. [Background technology]

[0002] Conventionally, technologies have been developed for radar that monitor the power of transmitted pulse signals and control the transmission power of the pulse signals based on the monitoring results. For example, Patent Document 1 (JP 2018-159550 A) describes the following radar control device. That is, the radar control device includes: a signal generation unit that generates a transmission pattern signal including one or more types of pulse signals selected from pulse signals including a first pulse signal and a second pulse signal having a longer pulse width than the first pulse signal; a transmission unit that transmits the transmission pattern signal generated by the signal generation unit to an external device via a radar antenna; a detection unit that detects the transmission power of the pulse signal included in the transmission pattern signal transmitted by the transmission unit; and a control unit that, when the transmission pattern signal generated by the signal generation unit includes the second pulse signal, controls the transmission power using a control value calculated based on the transmission power of the second pulse signal detected by the detection unit; and, when the transmission pattern signal generated by the signal generation unit is composed only of the first pulse signal, controls the transmission power of the first pulse signal using a control value used when previously controlling the transmission power of the second pulse signal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-159550 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for a technology that goes beyond the technology described in Patent Document 1 and that can improve the detection accuracy of targets in short-distance areas in a radar device that transmits pulse signals with different pulse widths.

[0005] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a radar device, a radar image display method, and a radar image display program that can improve the detection accuracy of targets in short-range areas in a radar device that transmits pulse signals with different pulse widths. [Means for solving the problem]

[0006] (1) A radar device according to an embodiment of the present disclosure includes a transmitter that transmits a first pulse signal, which is a pulse signal, and a second pulse signal, which is a pulse signal having a wider pulse width than the first pulse signal; a receiver that receives a reflected signal from the pulse signal; a display signal generator that generates a display signal based on the reflected signal; and a controller that performs first control to control the transmission power of the pulse signal so that the transmission power of the first pulse signal is greater than the transmission power of the second pulse signal.

[0007] In this way, by configuring the transmission power of the first pulse signal to be greater than the transmission power of the second pulse signal, it is possible to improve the detection accuracy of targets based on the reflected signal of the first pulse signal while suppressing the occurrence of range side lobes in the reflected signal of the pulse-compressed second pulse signal, thereby improving the detection accuracy of targets in short-distance ranges. Therefore, in a radar device that transmits pulse signals with different pulse widths, it is possible to improve the detection accuracy of targets in short-distance ranges.

[0008] (2) In the above (1), the transmitter may alternately transmit the first pulse signal and the second pulse signal, and the controller may further perform second control to adjust the transmission power of the pulse signal based on a monitoring result of the transmission power of the pulse signal, and the controller may, in the second control, adjust the transmission power of the first pulse signal transmitted in a second transmission period that is subsequent to the first transmission period based on a monitoring result of the transmission power of the first pulse signal transmitted in a first transmission period, and the controller may, in the second control, adjust the transmission power of the second pulse signal transmitted in a fourth transmission period that is subsequent to the third transmission period based on a monitoring result of the transmission power of the second pulse signal transmitted in a third transmission period.

[0009] With this configuration, the transmission power of the first pulse signal can be made larger than the transmission power of the second pulse signal, while, for example, the transmission power of the first pulse signal and the transmission power of the second pulse signal can be made closer to their respective target values, thereby further improving the detection accuracy of the target object.

[0010] (3) In the above (2), the transmitting unit may alternately transmit the first pulse signal and the second pulse signal, and the control unit may further perform second control to adjust the transmission power of the pulse signal based on a monitoring result of the transmission power of the pulse signal, and in the second control, the control unit may commonly adjust the transmission power of the first pulse signal and the transmission power of the second pulse signal transmitted in a sixth period after the fifth period based on a monitoring result of the transmission power of the pulse signal transmitted in a fifth period.

[0011] With this configuration, even when it is not possible to obtain monitoring results of monitoring the transmission power of the first pulse signal and the second pulse signal individually, it is possible to make the transmission power of the first pulse signal larger than the transmission power of the second pulse signal, and to bring, for example, the average value of the transmission power of the first pulse signal and the transmission power of the second pulse signal closer to a target value, thereby further improving the accuracy of target detection.

[0012] (4) In any of (1) to (3) above, the control unit may, in the first control, control the transmission power of the pulse signal so that the transmission power of the first pulse signal is greater than the transmission power of the second pulse signal by adjusting the attenuation amount of an attenuator that attenuates the pulse signal.

[0013] With this configuration, the first control can be performed at lower cost than with a configuration in which the amplification amount of a variable amplifier is adjusted.

[0014] (5) A radar image display method according to an embodiment of the present disclosure is a radar image display method in a radar device, which transmits a first pulse signal that is a pulse signal and a second pulse signal that is a pulse signal with a wider pulse width than the first pulse signal, receives a reflected signal of the pulse signal, generates a display signal based on the reflected signal, and performs first control to control the transmission power of the pulse signal so that the transmission power of the first pulse signal is greater than the transmission power of the second pulse signal.

[0015] In this way, by making the transmission power of the first pulse signal greater than the transmission power of the second pulse signal, it is possible to improve the detection accuracy of targets based on the reflected signal of the first pulse signal while suppressing the occurrence of range side lobes in the reflected signal of the pulse-compressed second pulse signal, thereby improving the detection accuracy of targets in short-distance ranges. Therefore, in a radar device that transmits pulse signals with different pulse widths, it is possible to improve the detection accuracy of targets in short-distance ranges.

[0016] (6) A radar image display program according to an embodiment of the present disclosure is a radar image display program used in a radar device, and is a program for causing a computer to execute the following processes: transmitting a first pulse signal, which is a pulse signal, and a second pulse signal, which is a pulse signal having a wider pulse width than the first pulse signal; receiving a reflected signal from the pulse signal; generating a display signal based on the reflected signal; and performing first control to control the transmission power of the pulse signal so that the transmission power of the first pulse signal is greater than the transmission power of the second pulse signal.

[0017] In this way, by configuring the transmission power of the first pulse signal to be greater than the transmission power of the second pulse signal, it is possible to improve the detection accuracy of targets based on the reflected signal of the first pulse signal while suppressing the occurrence of range side lobes in the reflected signal of the pulse-compressed second pulse signal, thereby improving the detection accuracy of targets in short-distance ranges. Therefore, in a radar device that transmits pulse signals with different pulse widths, it is possible to improve the detection accuracy of targets in short-distance ranges. [Effects of the Invention]

[0018] According to the present disclosure, in a radar device that transmits pulse signals with different pulse widths, it is possible to improve the detection accuracy of targets in short-distance areas. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a radar device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating an example of a pulse signal generated by a signal generating unit in the radar device according to the embodiment of the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating an example of the attenuation amount of the variable attenuator and the transmission power of the pulse signal in the radar device according to the embodiment of the present disclosure. [Figure 4]FIG. 4 is a flowchart illustrating an example of an operation procedure when the radar device according to the embodiment of the present disclosure performs power control. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, identical or corresponding parts are designated by the same reference numerals, and their description will not be repeated. Furthermore, at least some of the embodiments described below may be combined in any manner.

[0021] [Configuration and basic operation] FIG. 1 is a diagram illustrating a configuration of a radar device according to an embodiment of the present disclosure. Referring to FIG. 1, a radar device 201 includes a radar unit 101 and a display device 111. The radar unit 101 includes a signal generation unit 11, a variable attenuator 12, a transmission unit 13, a power detection unit 14, a control unit 15, a circulator 21, an antenna 22, a reception unit 31, and a display signal generation unit 32. The display signal generation unit 32 includes a received signal processing unit 32A and an image generation unit 32B. Some or all of the signal generation unit 11, the variable attenuator 12, the transmission unit 13, the power detection unit 14, the control unit 15, the reception unit 31, and the display signal generation unit 32 are implemented, for example, by a processing circuit including one or more processors.

[0022] For example, the radar device 201 is a solid-state radar that transmits a pulse signal Ps using a semiconductor element. The radar device 201 is mounted on a ship. The radar device 201 performs processing to display a radar image that indicates the presence or absence of a target in a detection area that is an area monitored by the ship, and the distance between the radar device 201 and the target.

[0023] The signal generating unit 11 generates a pulse signal Ps in an RF (Radio Frequency) band at a predetermined level at a transmission timing of the pulse signal Ps according to a predetermined generation cycle.

[0024] 2 is a diagram illustrating an example of a pulse signal generated by a signal generating unit in a radar device according to an embodiment of the present disclosure, in which the horizontal axis represents time and the vertical axis represents the level of a pulse signal Ps.

[0025] 2, the signal generating unit 11 alternately generates a pulse signal Ps1 that is a pulse signal Ps and a pulse signal Ps2 that is a pulse signal Ps with a wider pulse width than the pulse signal Ps1. The pulse signal Ps1 is an example of a first pulse signal. The pulse signal Ps2 is an example of a second pulse signal. For example, the pulse width of the pulse signal Ps1 is equal to or greater than 50 nanoseconds and equal to or less than 1 microsecond. For example, the pulse width of the pulse signal Ps2 is equal to or greater than 5 microseconds and equal to or less than 20 microseconds.

[0026] The pulse signal Ps1 is an unmodulated pulse signal Ps used for detecting targets in the short-distance range. The pulse signal Ps2 is a modulated pulse signal Ps used for detecting targets in the long-distance range. The signal generating unit 11 includes, for example, an amplifier, and amplifies the generated pulse signal Ps and outputs it to the variable attenuator 12.

[0027] 1 again, the variable attenuator 12 attenuates the pulse signal Ps received from the signal generating unit 11 and outputs the attenuated pulse signal Ps to the transmitting unit 13. The amount of attenuation Att of the pulse signal Ps by the variable attenuator 12 is set by the control unit 15. The setting of the amount of attenuation Att by the control unit 15 will be described in detail later.

[0028] The transmitter 13 transmits pulse signals Ps1 and Ps2. For example, the transmitter 13 alternately transmits the pulse signals Ps1 and Ps2. More specifically, the transmitter 13 transmits the pulse signal Ps received from the variable attenuator 12 to the detection target area via the circulator 21 and the antenna 22. The transmitter 13 also outputs the pulse signal Ps to the power detector 14.

[0029] The power detection unit 14 detects the transmission power Pt of the pulse signal Ps transmitted by the transmission unit 13. More specifically, the power detection unit 14 generates a voltage at a level corresponding to the transmission power Pt of the pulse signal Ps received from the transmission unit 13 and holds the peak value of the generated voltage. The power detection unit 14 detects the transmission power Pt of the pulse signal Ps transmitted by the transmission unit 13 based on the held peak value. The power detection unit 14 outputs the detection result of the transmission power Pt to the control unit 15.

[0030] The control unit 15 performs feedback control to adjust the transmission power Pt of the pulse signal Ps based on the monitoring result of the transmission power of the pulse signal Ps. The feedback control is an example of second control. More specifically, the transmission power Pt of the pulse signal Ps may vary depending on the temperature of the radar unit 101, etc. The control unit 15 receives the detection result of the transmission power Pt from the power detection unit 14, and adjusts the attenuation Att of the variable attenuator 12 based on the received detection result so as to reduce the difference between the transmission power Pt of the pulse signal Ps transmitted by the transmitter 13 and a predetermined target value.

[0031] The receiving unit 31 receives a reflected signal Rs in the RF band, which is a result of reflection of the pulse signal Ps. More specifically, the receiving unit 31 receives, via the antenna 22 and the circulator 21, reflected signals Rs1 and Rs2, which are the reflected signals Rs obtained by reflecting the pulse signals Ps1 and Ps2 transmitted by the transmitting unit 13 from targets. The receiving unit 31 down-converts the received reflected signals Rs1 and Rs2 to the IF (Intermediate Frequency) band and outputs the down-converted reflected signals Rs1 and Rs2 to the display signal generating unit 32.

[0032] The display signal generation unit 32 generates a display signal based on the reflected signal Rs. More specifically, the received signal processing unit 32A digitally converts the reflected signals Rs1 and Rs2 received from the receiving unit 31 and performs signal processing on the digitally converted reflected signals Rs1 and Rs2. For example, the received signal processing unit 32A performs signal processing such as quadrature detection of the reflected signals Rs1 and Rs2 and pulse compression of the reflected signal Rs2. The received signal processing unit 32A outputs the processed reflected signals Rs1 and Rs2 to the image generation unit 32B.

[0033] The image generator 32B generates a radar image showing the detection result of the target based on the reflected signals Rs1 and Rs2 received from the received signal processor 32A. More specifically, the image generator 32B calculates the distance to the target based on the time difference between the timing at which the pulse signal Ps is transmitted by the transmitter 13 and the timing at which the reflected signal Rs is received by the receiver 31. The image generator 32B also calculates the direction in which the target exists based on the orientation of the antenna 22 when the pulse signal Ps is transmitted by the transmitter 13. The image generator 32B generates a radar image showing the calculated distance to the target and the direction of the target.

[0034] For example, the image generating unit 32B detects response signals from a Search And Rescue Transponder (SART) and a racon based on the reflected signal Rs, and generates a radar image that further shows the detection results of the response signals.

[0035] The image generating unit 32B generates a display signal showing the generated radar image, and outputs the generated display signal to the display device 111.

[0036] The display device 111 uses the display signal received from the radar unit 101 to perform processing to display a radar image on the display.

[0037] [assignment] A technique capable of improving the detection accuracy of targets in short-distance ranges is desired for the radar device 201. More specifically, when the transmission power Pt of the pulse signal Ps is increased to improve the detection accuracy of targets, the reflected signal Rs2 is pulse-compressed, which causes range side lobes in the reflected signal Rs2 after signal processing in the display signal generator 32, thereby degrading the quality of the radar image.

[0038] Therefore, the radar device 201 according to the embodiment of the present disclosure solves the above problem by adopting the following configuration.

[0039] (power control) Every time the signal generating unit 11 completes the output of the pulse signal Ps1 to the variable attenuator 12, it outputs an output notification N1 indicating that the output of the pulse signal Ps1 has been completed to the control unit 15. In addition, every time the signal generating unit 11 completes the output of the pulse signal Ps2 to the variable attenuator 12, it outputs an output notification N2 indicating that the output of the pulse signal Ps2 has been completed to the control unit 15.

[0040] The control unit 15 performs power control to control the transmission power Pt of the pulse signal Ps so that the transmission power Pt1 of the pulse signal Ps1 is greater than the transmission power Pt2 of the pulse signal Ps2. The power control is an example of first control. More specifically, in the power control, the control unit 15 adjusts the attenuation Att of the variable attenuator 12 based on the output notifications N1 and N2 received from the signal generating unit 11, thereby controlling the transmission powers Pt1 and Pt2 so that the transmission power Pt1 of the pulse signal Ps1 is greater than the transmission power Pt2 of the pulse signal Ps2.

[0041] 3 is a diagram illustrating an example of the attenuation amount of the variable attenuator and the transmission power of the pulse signal in the radar device according to the embodiment of the present disclosure, showing a timing chart of the level of the pulse signal Ps generated by the signal generating unit 11, the attenuation amount of the variable attenuator 12, and the transmission power Pt of the pulse signal Ps transmitted by the transmitting unit 13.

[0042] Referring to FIG. 3, the control unit 15 controls the transmission power Pt so that the transmission power Pt1 is greater than the transmission power Pt2 by making the attenuation amount Att1 of the pulse signal Ps1 by the variable attenuator 12 smaller than the attenuation amount Att2 of the pulse signal Ps2 by the variable attenuator 12.

[0043] More specifically, the transmitter 13 transmits a pulse signal Ps2 with a transmission power Pt2 during a transmission period Ta from time t1 to time t2.

[0044] At time t2, the control unit 15 receives the output notification N2 from the signal generating unit 11 and performs control to reduce the attenuation amount of the variable attenuator 12 from Att2 to Att1.

[0045] Next, the transmitter 13 transmits a pulse signal Ps1 with a transmission power Pt1 during a transmission period Tb from time t3 to time t4 after time t2.

[0046] At time t4, the control unit 15 receives the output notification N1 from the signal generating unit 11 and performs control to increase the attenuation amount of the variable attenuator 12 from Att1 to Att2.

[0047] Next, the transmitter 13 transmits a pulse signal Ps2 with a transmission power Pt2 during a transmission period Tc from time t5 to time t6 after time t4.

[0048] At time t6, the control unit 15 receives the output notification N2 from the signal generating unit 11 and performs control to reduce the attenuation amount of the variable attenuator 12 from Att2 to Att1.

[0049] Next, the transmitter 13 transmits a pulse signal Ps1 with a transmission power Pt1 during a transmission period Td from time t7 to time t8 after time t6.

[0050] In this way, by increasing the transmission power Pt1 of the pulse signal Ps1, which does not generate range side lobes in the reflected signal Rs1, more than the transmission power Pt2 of the pulse signal Ps2, it is possible to improve the accuracy of target detection based on the reflected signal Rs1 while suppressing the generation of range side lobes in the reflected signal Rs2, thereby improving the accuracy of target detection in short-distance ranges. This makes it possible to extend the distance at which response signals from the SART and racon can be detected, for example.

[0051] (feedback control) The control unit 15 performs feedback control in parallel with the power control. In the feedback control, the control unit 15 adjusts the transmission power Pt2 of the pulse signal Ps2 transmitted in a transmission period Tc that follows the transmission period Ta based on the monitoring result of the transmission power Pt of the pulse signal Ps2 transmitted in the transmission period Ta. In addition, in the feedback control, the control unit 15 adjusts the transmission power Pt1 of the pulse signal Ps1 transmitted in a transmission period Td that follows the transmission period Tb based on the monitoring result of the transmission power Pt of the pulse signal Ps1 transmitted in the transmission period Tb. The transmission period Ta is an example of a third transmission period. The transmission period Tb is an example of a first transmission period. The transmission period Tc is an example of a fourth transmission period. The transmission period Td is an example of a second transmission period.

[0052] More specifically, the power detection unit 14 can individually detect the transmission power Pt of the pulse signals Ps1 and Ps2.

[0053] The control unit 15 receives from the power detection unit 14 the detection result of the transmission power Pt2 of the pulse signal Ps2 transmitted by the transmission unit 13 during the transmission period Ta, and adjusts the attenuation amount of the variable attenuator 12 during the transmission period Tc based on the received detection result.

[0054] In addition, the control unit 15 receives from the power detection unit 14 the detection result of the transmission power Pt1 of the pulse signal Ps1 transmitted by the transmission unit 13 during the transmission period Tb, and adjusts the attenuation amount of the variable attenuator 12 during the transmission period Td based on the received detection result.

[0055] (Modification of feedback control) The control unit 15 may be configured to adjust the transmission power Pt of the pulse signals Ps1 and Ps2 transmitted during a period from time t1 to time t4, based on a monitoring result of the transmission power Pt of the pulse signals Ps transmitted during that period, from time t5 to time t8. The period from time t1 to time t4 is an example of a fifth period. The period from time t5 to time t8 is an example of a sixth period.

[0056] More specifically, the power detection unit 14 may not be able to individually detect the transmission powers Pt of the pulse signals Ps1 and Ps2 due to limitations on the detection resolution of the transmission powers Pt.

[0057] In this case, the control unit 15 receives from the power detection unit 14 the detection result of the transmission power Pt of the pulse signal Ps transmitted by the transmission unit 13 during the period from time t1 to time t4, and adjusts the attenuation amount of the variable attenuator 12 during the period from time t5 to time t8 based on the received detection result.

[0058] [Operation flow] A radar device according to an embodiment of the present disclosure includes a computer including a memory, and a processor such as a CPU in the computer reads from the memory and executes a program including some or all of the steps in the following flowchart. The program for this device can be installed externally. The program for this device is distributed in a state stored on a recording medium or via a communication line.

[0059] FIG. 4 is a flowchart illustrating an example of an operation procedure when the radar device according to the embodiment of the present disclosure performs power control.

[0060] Referring to FIG. 4, first, the radar device 201 waits for the timing to transmit the pulse signal Ps1 (NO in step S11), and when the timing to transmit the pulse signal Ps1 arrives (YES in step S11), it transmits the pulse signal Ps1 attenuated by the variable attenuator 12 (step S12).

[0061] Next, after transmitting the pulse signal Ps1, the radar device 201 increases the attenuation of the variable attenuator 12 from Att1 to Att2 (step S13).

[0062] Next, the radar device 201 waits for the timing to transmit the pulse signal Ps2 (NO in step S14), and when the timing to transmit the pulse signal Ps2 arrives (YES in step S14), it transmits the pulse signal Ps2 attenuated by the variable attenuator 12 (step S15).

[0063] Next, after transmitting the pulse signal Ps2, the radar device 201 reduces the attenuation of the variable attenuator 12 from Att2 to Att1 (step S16).

[0064] Next, the radar device 201 waits for a new transmission timing of the pulse signal Ps1 (NO in step S11).

[0065] Although the radar device 201 according to the embodiment of the present disclosure has been described as including the variable attenuator 12 that attenuates the pulse signals Ps1 and Ps2, this is not limiting. The radar device 201 may also include a variable attenuator 12A that attenuates the pulse signal Ps1 and a variable attenuator 12B that attenuates the pulse signal Ps2, instead of the variable attenuator 12. In this case, the control unit 15 controls at least one of the transmission powers Pt1 and Pt2 based on the output notifications N1 and N2 received from the signal generation unit 11 during power control so that the transmission power Pt1 of the pulse signal Ps1 is greater than the transmission power Pt2 of the pulse signal Ps2. More specifically, the control unit 15 adjusts the attenuation amount of at least one of the variable attenuators 12A and 12B based on the output notifications N1 and N2 received from the signal generation unit 11.

[0066] Furthermore, in the radar device 201 according to the embodiment of the present disclosure, the control unit 15 is configured to adjust the attenuation amount Att of the variable attenuator 12 in power control, but this is not limiting. Instead of adjusting the attenuation amount Att of the variable attenuator 12, the control unit 15 may be configured to adjust the amplification amount of a variable amplifier (not shown) that amplifies the pulse signal Ps.

[0067] The above-described embodiments should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0068] 11 Signal generation unit 12 Variable Attenuator 13 Transmitter 14 Power detection section 15 Control Unit 21 Circulator 22 Antenna 31 Receiving unit 32 Display signal generation section 32A Received signal processing section 32B Image generation unit 101 Radar Section 111 Display device 201 Radar equipment Ps, Ps1, Ps2 pulse signals Att1, Att2 attenuation Pt, Pt1, Pt2 transmission power t1,t2,t3,t4,t5,t6,t7,t8 Time Ta, Tb, Tc, Td transmission period

Claims

1. a transmitter that transmits a first pulse signal that is a pulse signal and a second pulse signal that is a pulse signal having a pulse width wider than that of the first pulse signal; a receiving unit that receives a reflected signal obtained by reflecting the pulse signal; a display signal generating unit that generates a display signal based on the reflected signal; a control unit that performs first control to control transmission power of the pulse signal so that transmission power of the first pulse signal is greater than transmission power of the second pulse signal.

2. the transmitting unit alternately transmits the first pulse signal and the second pulse signal, the control unit further performs second control of adjusting the transmission power of the pulse signal based on a monitoring result of the transmission power of the pulse signal; the control unit, in the second control, adjusts transmission power of the first pulse signal transmitted in a second transmission period that is after the first transmission period based on a monitoring result of transmission power of the first pulse signal transmitted in a first transmission period; 2. The radar device according to claim 1, wherein, in the second control, the control unit adjusts transmission power of the second pulse signal transmitted in a fourth transmission period that is after the third transmission period, based on a monitoring result of transmission power of the second pulse signal transmitted in a third transmission period.

3. the transmitting unit alternately transmits the first pulse signal and the second pulse signal, the control unit further performs second control of adjusting the transmission power of the pulse signal based on a monitoring result of the transmission power of the pulse signal; 2. The radar device according to claim 1, wherein, in the second control, the control unit adjusts the transmission power of the first pulse signal and the transmission power of the second pulse signal transmitted in a sixth period after the fifth period based on a monitoring result of the transmission power of the pulse signal transmitted in a fifth period.

4. 4. The radar device according to claim 1, wherein the control unit, in the first control, controls transmission power of the pulse signal such that transmission power of the first pulse signal is greater than transmission power of the second pulse signal by adjusting an attenuation amount of an attenuator that attenuates the pulse signal.

5. A radar image display method in a radar device, comprising: Transmitting a first pulse signal, which is a pulse signal, and a second pulse signal, which is a pulse signal having a pulse width wider than that of the first pulse signal; receiving a reflected signal from the pulse signal; generating an indication signal based on the reflected signal; A radar image display method comprising: performing first control of controlling transmission power of the pulse signal so that transmission power of the first pulse signal is greater than transmission power of the second pulse signal.

6. A radar image display program for use in a radar device, comprising: a process of transmitting a first pulse signal that is a pulse signal and a second pulse signal that is a pulse signal having a pulse width wider than that of the first pulse signal; receiving a reflected signal from the pulse signal; generating a display signal based on the reflected signal; a first control process for controlling the transmission power of the pulse signal so that the transmission power of the first pulse signal is greater than the transmission power of the second pulse signal;

Images